ALLEX Playground
Drive a bimanual robot's hands in the browser — real MJCF, MuJoCo physics via WebAssembly, no install. Early prototype.
An in-browser sandbox for ALLEX, a fixed-base bimanual humanoid with two 15-DOF dexterous hands. The robot is not a game asset — it is the same MJCF used for simulation research, loaded unmodified and stepped by MuJoCo compiled to WebAssembly.
Why that matters: each finger’s distal joint is driven by a 4th-order polynomial coupling (equality/joint with polycoef). URDF cannot express it — mimic is linear-only — and no game engine’s articulation system has the concept at all. Running the real MJCF is the only way the hand moves correctly.
Controls — mouse moves the hand, W/S height, Q/E grip rotation, Space closes the hand, Tab switches hands. A gamepad, if connected, takes over the grip axis for analogue pressure.
Physics runs at the model’s own 2 ms timestep, substepped to the display, at roughly 3.5x realtime on a desktop CPU — about 29% of a 60 fps frame budget.